// Copyright 2022, Kenji Brameld All rights reserved.
//
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#include <gtest/gtest.h>

#include "message_filters/message_traits.hpp"
#include "rclcpp/time.hpp"
#include "std_msgs/msg/header.hpp"

struct Msg
{
  std_msgs::msg::Header header;
};

// Test that message_filters::message_traits::TimeStamp<Msg>::value returns RCL_ROS_TIME.
TEST(MessageTraits, timeSource)
{
  Msg msg;
  rclcpp::Time time = message_filters::message_traits::TimeStamp<Msg>::value(msg);

  EXPECT_EQ(time.get_clock_type(), RCL_ROS_TIME);

  // Ensure an exception isn't thrown when compared with a RCL_ROS_TIME time.
  bool unused;
  EXPECT_NO_THROW(unused = (time == rclcpp::Time{msg.header.stamp, RCL_ROS_TIME}));
  (void)unused;
}
